Multi-mode mission planning and optimization for autonomous agricultural vehicles
First Claim
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1. A tangible, non-transitory computer readable medium storing computer instructions, wherein the computer instructions, when executed by a processor, are configured to:
- generate a first mission plan based at least in part on inputs, wherein the first mission plan comprises at least a route and a driving speed for at least one agricultural vehicle to initially execute at a beginning of an operation;
generate a second mission plan at least when one or more of the inputs change in response to one or more events that occur during the operation, wherein the second mission plan comprises at least one modification to the first mission plan;
generate a third mission plan comprising at least one modification to the first mission plan or the second mission plan via one or more optimization techniques that reduce a cost function having adjustable weight factors;
determine respective plan values for the first, second, and third mission plans;
select the first, second, or third mission plan based on the respective plan values; and
output the selected mission plan to the at least one agricultural vehicle for execution.
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Abstract
In one embodiment, a method for controlling one or more autonomous agricultural vehicles includes generating a number of mission plans for the one or more autonomous agricultural vehicles, determining a plan value for each of the number of mission plans, selecting a mission plan with the highest plan value, and executing the selected mission plan to control the one or more autonomous agricultural vehicles.
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Citations
19 Claims
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1. A tangible, non-transitory computer readable medium storing computer instructions, wherein the computer instructions, when executed by a processor, are configured to:
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generate a first mission plan based at least in part on inputs, wherein the first mission plan comprises at least a route and a driving speed for at least one agricultural vehicle to initially execute at a beginning of an operation; generate a second mission plan at least when one or more of the inputs change in response to one or more events that occur during the operation, wherein the second mission plan comprises at least one modification to the first mission plan; generate a third mission plan comprising at least one modification to the first mission plan or the second mission plan via one or more optimization techniques that reduce a cost function having adjustable weight factors; determine respective plan values for the first, second, and third mission plans; select the first, second, or third mission plan based on the respective plan values; and output the selected mission plan to the at least one agricultural vehicle for execution. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A system for controlling at least one autonomous agricultural vehicle, comprising:
a controller configured to execute a mission planning and optimization system (MPOS), wherein the MPOS comprises; a general planner configured to generate a first mission plan based at least in part on inputs to be initially executed by the at least one autonomous agricultural vehicle at a beginning of an operation on a field; a reactive planner configured to generate a second mission plan when at least one or more of the inputs change in response to one or more events that occur during the operation, wherein the second mission plan comprises at least one modification to the first mission plan; an optimizing planner configured to generate a third mission plan concurrently with the first mission plan, the second mission plan, or a combination thereof, wherein the third mission plan comprises at least one modification to the first mission plan or the second mission plan via one or more optimization techniques that reduce a cost function having adjustable weight factors; and a mission planning arbitrator configured to; receive the first, second, and third mission plans; determine respective plan values for the first, second, and third mission plans; select the first, second, or third mission plan based on the respective plan values; and output the selected mission plan to the at least one agricultural vehicle for execution. - View Dependent Claims (13, 14, 15, 16, 17)
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18. A method for controlling one or more autonomous agricultural vehicles, comprising:
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generating a plurality of mission plans for the one or more autonomous agricultural vehicles; determining a plan value for each of the plurality of mission plans; selecting a mission plan with the highest plan value; and executing the selected mission plan to control the one or more autonomous agricultural vehicles; wherein the plurality of mission plans comprise; a first mission plan that is based at least in part on inputs and comprises an initial route and speed for the one or more autonomous agricultural vehicles to perform an operation on a field; a second mission plan that comprises at least one modification to the first mission plan based at least on a change to the inputs; and a third mission plan that comprises at least one modification to the first mission plan or the second mission plan via one or more optimization techniques that reduce a cost function having adjustable weight factors. - View Dependent Claims (19)
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Specification